##############################################################################
# CMake
##############################################################################

cmake_minimum_required(VERSION 2.8.0)
project(image_stitching)

add_compile_options(-std=c++11)
##############################################################################
# Catkin
##############################################################################

# qt_build provides the qt cmake glue, roscpp the comms for a default talker
find_package(catkin REQUIRED COMPONENTS
    qt_build
    roscpp
    std_msgs
    message_generation
    OpenCV
    cv_bridge
    image_transport)

find_package(OpenCV 3.4.3 REQUIRED)
include_directories(${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
# Use this to define what the package will export (e.g. libs, headers).
# Since the default here is to produce only a binary, we don't worry about
# exporting anything. 
add_message_files(
  FILES
  CommonCommonStateBatteryStateChanged.msg
)
generate_messages(
  DEPENDENCIES
  std_msgs
)

catkin_package()

##############################################################################
# Qt Environment
##############################################################################

# this comes from qt_build's qt-ros.cmake which is automatically 
# included via the dependency call in package.xml
rosbuild_prepare_qt4(QtCore QtGui) # Add the appropriate components to the component list here

##############################################################################
# Sections
##############################################################################

file(GLOB QT_FORMS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ui/*.ui)
file(GLOB QT_RESOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} resources/*.qrc)
file(GLOB_RECURSE QT_MOC RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS include/image_stitching/*.hpp)

QT4_ADD_RESOURCES(QT_RESOURCES_CPP ${QT_RESOURCES})
QT4_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})
QT4_WRAP_CPP(QT_MOC_HPP ${QT_MOC})

##############################################################################
# Sources
##############################################################################

file(GLOB_RECURSE QT_SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS src/*.cpp)
file(GLOB_RECURSE KCF_SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS src/kcf/*.cpp)
##############################################################################
# Binaries
##############################################################################

add_executable(image_stitching ${QT_SOURCES} ${KCF_SOURCES} ${QT_RESOURCES_CPP} ${QT_FORMS_HPP} ${QT_MOC_HPP})
target_link_libraries(image_stitching ${QT_LIBRARIES} ${catkin_LIBRARIES})
install(TARGETS image_stitching RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

message(STATUS "opencv version: ${OpenCV_VERSION}")
message(STATUS "opencv dir: ${OpenCV_INCLUDE_DIRS}")
